NDLI: Effect of force feedback from each DOF on the motion accuracy of a surgical tool in performing a robot-assisted tracing task

Content Provider	IEEE Xplore Digital Library
Author	Samad, M.D. Yaoping Hu Sutherland, G.R.
Copyright Year	2010
Description	Author affiliation: Dept. of Clinical Neurosciences, U of C, and Calgary, AB, CANADA (Sutherland, G.R.) \|\| Dept. of ECE, U of C, Calgary, AB, CANADA (Yaoping Hu) \|\| Dept. of Electrical and Computer Engineering (ECE), University of Calgary (U of C), AB, CANADA (Samad, M.D.)
Abstract	In robot-assisted surgery, it may be important to provide force feedback to the hand of the surgeon. Here we examine how force feedback from each degree of freedom (DOF) on a hand controller affects the motion accuracy of a surgical tool. We studied the motion accuracy of a needle-shaped tool in performing a robot-assisted tracing task. On a virtual simulation of the tool and neuroArm robot, human participants manipulated a hand controller to move the tool attached to the end-effector of the robot. They used the tool to trace a line on pipes (mimicking blood vessels) along 3 orthogonal directions, corresponding to 3 DOF on the hand controller. We observed that force feedback from each DOF on the hand controller had a significant effect on the motion accuracy of the tool during tracing. Varying force conditions yielded insignificant difference in motion accuracy. These results indicate a need of revising the hand controller for achieving improved motion accuracy in performing robot-assisted tasks.
Starting Page	2093
Ending Page	2096
File Size	493169
Page Count	4
File Format	PDF
ISBN	9781424441235
ISSN	1557170X
DOI	10.1109/IEMBS.2010.5626171
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-08-31
Publisher Place	Argentina
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Force Surgery Robots Force feedback Accuracy Analysis of variance robot-assisted surgery force feedback DOF
Content Type	Text
Resource Type	Article
Subject	Signal Processing Biomedical Engineering Health Informatics Computer Vision and Pattern Recognition

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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